OK, so I’m able to get the form to show up now.
One key detail that is left out of the tutorial is to go to the Field Groups form and hover over the link to get the post id for the Field Group. That is what needs to be put in the field_groups array.
For example: My field group post ID was 96 so my code looks like this:
<?php
$options = array('post_id' => 'new', 'field_groups' => array(96));
acf_form($options);
?>
